/*
* ################################################################################
* ### MIT License
* ################################################################################
* 
* Copyright (c) 2006-2011 Andy Turner
* 
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
* 
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
* 
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef __BOXQUERIES_H__
#define __BOXQUERIES_H__

namespace Mimlab
{
   namespace Matrices
   {
      template <class T>
      class Matrix;
   }
}

#include "ObjectEKDTree/AxisAlignedBoundingBox.h"
#include "Mesh/Pose.h"

namespace AWT
{
   template <class T>
   class BoxQueries
   {
   public:
      static T getClosestDistance2(const T* in_TestPoint, typename AxisAlignedBoundingBox<T,3>* in_Branch, const T fastBreak);
      static T getFarthestDistance2(const T* in_TestPoint, typename AxisAlignedBoundingBox<T,3>* in_Branch, const T fastBreak);
      static bool rayIntersectsBox(const T* in_Origin, const T* in_Direction, typename AxisAlignedBoundingBox<T,3>* in_Branch, T* distance);

      static bool boxesIntersect(const typename AxisAlignedBoundingBox<T,3>::P in_A, const typename Pose<T>::P in_PoseA, 
      const typename AxisAlignedBoundingBox<T,3>::P in_B, const typename Pose<T>::P in_PoseB, bool debug = false);
   };
}

#endif // __BOXQUERIES_H__